System and method for demodulating global positioning system signals

• US 6,125,135 A
• Filed: 11/10/1999
• Issued: 09/26/2000
• Est. Priority Date: 11/25/1998
• Status: Expired due to Term

• Current Assignee: Deere & Company
• Original Assignee: Navcom Technology, Inc. (Deere & Company)
• Inventors: Quan, Jose O., Cheng, Unjeng, Woo, Richard K. T.
• Primary Examiner(s): Vo, Don N.
• Application Number:
  US09/437,779
• Time in Patent Office: 321 Days
• Field of Search: 375/130, 375/148, 375/150, 342/352, 342/357, 701/213, 701/214, 380/2, 380/9, 380/49, 380/59
• US Class Current: 375/130
• CPC Class Codes: G01S 19/24 Acquisition or tracking or demodulation of signals transmitted by the system synchronisation aspects of direct sequence spread spectrum modulation H04B1/7073
• CPC Class Codes: G01S 19/29 carrier including Doppler, related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/37 Hardware or software details of the signal processing chain
• CPC Class Codes: H04B 1/7085 using a code tracking loop, e.g. a delay-locked loop

Abstract

A GPS receiver uses the energy of the L1 and L2 GPS satellite signals to track the phase of the L1 and L2 P-code and the carrier phase of the L2 signal. The in-phase channel of the L1 signal, after L1 carrier demodulation with the aid of the publicly known C/A code, is first correlated with the P-code from a P-code generator in the L1 channel of the receiver. The correlation output is filtered over two W-bit periods, using an integrate-and-dump (I&D) filter, to determine whether a polarity change has occurred. Similarly the in-phase and quadrature channels of the received L2 Y-code signal are correlated with the P-code from the P-code generator in the receiver L2 channel and I&D filtered over the corresponding period of two W-bits. Polarity transitions between the two W-bits over the I&D integration period are detected by a threshold comparison with the I&D output of the L1 punctual P-code correlation signal. If a polarity change has occurred, the L1 and L2 I&D outputs are not used for L2 carrier demodulation. When there is no polarity change, the I&D output of the L1 in-phase Punctual P-code correlation is combined with the L2 in-phase Punctual P-code correlation in accordance with the L1 and L2 signal power ratio. This summed signal is multiplied with the I&D output of the L2 quadrature channel early-late P-code correlation to obtain a product signal that provides an estimate of the L2 carrier phase.

Claims

1. A global positioning satellite (GPS) demodulator configured to receive a GPS signal which includes modulated C/A code, L1 P-code, L2 P-code and encrypting W-code signals, the demodulator comprising:

an L1 P-code generator configured to generate first and second L1 P-code signals that are local replica signals of the L1 P-code of the GPS signal;

a first demodulator configured to demodulate the GPS signal based on, in part, the first and second L1 P-code signals, to thereby generate first and second demodulated L1 P-code signals;

a first pair of integrate-and-dump (I&

D) filters configured to generate a first integrated L1 P-code signal by integrating the first demodulated L1 P-code signal and configured to generate a second integrated L1 P-code signal by integrating the second demodulated L1 P-code signal during a predetermined integration period;

a first thresholding module configured to generate a first switch control signal by comparing the first integrated L1 P-code signal to a first predetermined threshold value to determine whether the encrypting W-code changed polarity during the predetermined integration period; and

a first switch configured to output a first adjusting signal based on a signal derived from the first and second integrated L1 P-code signals and based on the first switch control signal, wherein the L1 P-code generator is further configured to be adjusted based on a signal derived from the first adjusting signal, to thereby accurately generate the first L1 P-code signal which tracks the L1 P-code of the GPS signal.

2. The demodulator according to claim 1 wherein the integration period is substantially equal to that of two bit periods of the encrypting W-code.

3. The demodulator according to claim 1 wherein the first switch is further configured to output a null signal as the first adjusting signal when the encrypting W-code changed polarity during the integration period.

4. The demodulator according to claim 1 further comprising a threshold determination module configured to generate the first threshold value based on an estimated carrier-to-noise (C/No) ratio value of the L1 P-code of the GPS signal.

5. The demodulator according to claim 4 further comprising a C/No ratio estimator configured to generate the estimated C/No ratio value based on a signal strength value of the C/A code of the GPS signal.

6. The demodulator according to claim 4 wherein the threshold determination module comprises a look-up-table including a plurality of entries, each entry setting forth a respective threshold value for a respective predetermined range of C/No ratio values.

7. The demodulator according to claim 6 wherein the predetermined range of the C/No ratio values for at least a plurality of the entries in the look-up-table is a 1 dB interval.

8. The demodulator according to claim 1 further including:

an L2 P-code generator configured to generate first and second L2 P-code signals that are local replica signals of the L2 P-code of the GPS signal;

a second demodulator configured to demodulate the GPS signal based on, in part, the first and second L2 P-code signals, to thereby generate first and second demodulated L2 P-code signals; and

a second pair of I&

D filters configured to generate a first integrated L2 P-code signal by integrating the first demodulated L2 P-code and configured to generate a second integrated L2 P-code signal by integrating the second demodulated L2 P-code signal during the predetermined integration period; and

a second switch configured to output a second adjusting signal based on a signal derived from the first and second integrated L2 P-code signals and based on the first switch control signal,

wherein the L2 P-code generator is further configured to be adjusted based on a signal derived from the second adjusting signal, to thereby accurately generate the first L2 P-code signal which tracks the L2 P-code of the GPS signal.

9. The demodulator according to claim 8 wherein the second switch is further configured to output a null signal as the second adjusting signal when the encrypting W-code changed its polarity during the predetermined integration period.

10. The demodulator according to claim 8 further comprising:

a third pair of I&

D filters configured to generate a third integrated L2 P-code signal by integrating a demodulated third L2 P-code and configured to generate a fourth integrated L2 P-code signal by integrating a fourth demodulated L2 P-code signal during the predetermined integration period, wherein the second demodulator is further configured to generate the third and fourth demodulated L2 P-code signals by demodulating the GPS signal based on, in part, the first and second L2 P-code signals.

11. The demodulator according to claim 10 further comprising:

a controller configured to determine whether a local L2 carrier signal is locked on to the L2 carrier of the GPS signal,

wherein the second switch is further configured to output a signal derived from the first, second, third and fourth integrated L2 P-code signals as the second adjusting signal when the encrypting W-code changed its polarity during the integration period and when the predetermined local L2 carrier signal has not locked on to the L2 carrier of the GPS signal.

12. The demodulator according to claim 8 further comprising:

an L2 carrier oscillator configured to generate a local L2 carrier signal that is a local replica signal of a L2 carrier of the GPS signal, wherein the second demodulator is further configured to demodulate the GPS signal based on, in part, the local L2 carrier signal in addition to the first and second L2 P-code signals, to thereby generate fifth and sixes demodulated L2 P-code signals;

a fourth pair of I&

D filters configured to generate a fifth integrated L2 P-code signal by integrating the fifth demodulated L2 P-code and configured to generate a sixth integrated L2 P-code signal by integrating the sixth demodulated L2 P-code signal during the predetermined integration period; and

a third switch configured to output a third adjusting signal based on a signal derived from the fifth and sixth integrated L2 P-code signals and the first integrated L1 P-code signal and based on the first switch control signal,

wherein the L2 carrier oscillator is further configured to be adjusted based on a signal derived from the third adjusting signal, to thereby accurately generate the local L2 carrier signal which tracks the L2 carrier of the GPS signal.

13. The demodulator according to claim 12 wherein the third switch is further configured to output a null signal as the third adjusting signal when the encrypting W-code changed its polarity during the predetermined integration period.

14. The demodulator according to claim 12 further comprising:

a second thresholding module configured to generate a second switch control signal by comparing a signal derived from the first integrated L1 P-code signal and the fifth integrated L2 P-code signal to a second predetermined threshold value to determine whether the encrypting W-code has changed its polarity during the integration period; and

a fourth switch configured to output a fourth adjusting signal based on a signal derived from the first integrated L1 P-code signal, the fifth and sixth integrated L2 P-code signals and based on the second switch control signal, wherein the L2 carrier oscillator is further configured to be adjusted based on a signal derived from the fourth adjusting signal, to thereby accurately generate the local L2 carrier signal which tracks the L2 carrier of the GPS signal.

15. The demodulator according to claim 14 wherein the fourth switch is further configured to output a null signal as the fourth adjusting signal when the second thresholding module determines that the encrypting W-code changed its polarity during the predetermined integration period.

16. A method of processing a global positioning system (GPS) signal which includes modulated C/A code, L1 P-code, L2 P-code and encrypting W-code signals, comprising the steps of:

demodulating the GPS signal based on, in part, first and second L1 P-code signals that are locally generated replica signals of the L1 P-code of the GPS signal, to thereby generate first and second demodulated L1 P-code signals;

separately integrating the first and second demodulated L1 P-code signals over a predetermined integration period, to thereby generate first and second integrated L1 P-code signals;

comparing the first integrated L1 P-code signal to a first predetermined threshold value to determine whether the encrypting W-code has changed its polarity during the predetermined integration period; and

adjusting the first L1 P-code signal based on the first and second integrated L1 signals and based on whether the encrypting W-code changed polarity during the integration period, to thereby accurately generate the first L1 P-code signal which tracks the L1 P-code of the GPS signal.

17. The method according to claim 16 wherein the adjusting step is performed only when the encrypting W-code did not change its polarity during the predetermined integration period.

18. The method according to claim 16 wherein the predetermined integration period is substantially equal to that of two bit periods of the encrypting W-code.

19. The method according to claim 16 further comprising the step of:

generating the first threshold value based on an estimated carrier-to-noise (C/No) ratio value of the L1 P-code of the GPS signal.

20. The method according to claim 19 further comprising the step of:

generating the C/No ratio value of the L1 P-code signal based on a signal strength value of the estimated C/A code of the GPS signal.

21. The method according to claim 20 further comprising the step of:

reading the first threshold value from a look-up-table having a plurality of entries, each entry setting forth a respective threshold value for a respective predetermined range of C/No ratio values.

22. The method according to claim 21 wherein the predetermined range of the C/No ratio values for at least a plurality of the entries in the look-up-table is a 1 dB interval.

23. The method according to claim 16 further comprising:

demodulating the GPS signal based on, in part, first and second L2 P-code signals that are locally generated replica signals of the L2 P-code of the GPS signal to thereby generate first and second demodulated L2 P-code signals;

separately integrating the first and second demodulated L2 P-code signals over the predetermined integration period, to thereby generate first and second integrated L2 P-code signals; and

adjusting the first L2 P-code signal based on the first and second integrated L2 P-code signals and based on whether the encrypting W-code changed its polarity during the integration period, to thereby accurately generate the first L2 P-code signal which tracks the L2 P-code of the GPS signal.

24. The method according to claim 23 wherein the adjusting the first L2 P-code signal step is performed only when the predetermined encrypting W-code did not change its polarity during the integration period.

25. The method according to claim 23 further comprising the steps of:

demodulating the GPS signal based on, in part, the first and second L2 P-code signals to thereby generate third and fourth demodulated L2 P-code signals; and

separately integrating the third and fourth demodulated L2 P-code signals over the predetermined integration period, to thereby generate third and fourth integrated L2 signals.

26. The method according to claim 25 further comprising the steps of:

determining whether a local L2 carrier signal has locked onto a L2 carrier of the GPS signal; and

if the local L2 carrier signal has not locked on to the L2 carrier of the GPS signal, then adjusting the first L2 P-code signal based on the first, second, third and fourth integrated L2 signals and based on whether the encrypting W-code changed its polarity during the predetermined integration period.

27. The method according to claim 16 further comprising the step of:

demodulating the GPS signal based on, in part, first and second L2 P-code signals that are locally generated replica signals of the L2 P-code of the GPS signal and a local L2 carrier signal that is a locally generated replica signal of a L2 carrier of the GPS signal, to thereby generate fifth and sixth demodulated L2 P-code signals;

separately integrating the fifth and sixth demodulated L2 P-code signals over the integration period, to thereby generate fifth and sixth integrated L2 P-code signals; and

adjusting the local L2 carrier signal based on the fifth and sixth integrated L2 signals and the first integrated L1 signal and based on whether the encrypting W-code changed its polarity during the integration period, to thereby accurately generate the local L2 carrier signal which tracks the L2 carrier of the GPS signal.

28. The method according to claim 27 further comprising the steps of:

comparing a signal derived from the first integrated L1 P-code signal and the fifth integrated L2 P-code signal to a second predetermined threshold value to determine whether the encrypting W-code changed its polarity during the integration period, to thereby generate a control signal; and

adjusting the local L2 carrier signal based on a signal derived from the fifth and sixth integrated L2 signals and the first integrated L1 signal and based on the control signal, to thereby accurately generate the local L2 carrier signal so as to track the L2 carrier of the GPS signal.